Robust marker tracking algorithm for precise UAV vision-based autonomous landing

Abstract

The robust marker tracking and relative navigation algorithms are presented for precise UA V vision-based autonomous landing. To recognize the marker in close-range, the concentric circles are adopted as the marker with ellipse fitting algorithm based on Direct Least Square. We assume that IMU provides vehicle's attitude and altitude so that we consider GPS-denied situation. Also multiple ellipses are used to estimate its center pixel coordinate makes UA V land more accurately. To verify the vision-based rela…